/**************************************************************************
 *                                                                         *
 * ADXL345 Driver for Arduino                                              *
 *                                                                         *
 ***************************************************************************
 *                                                                         * 
 * This program is free software; you can redistribute it and/or modify    *
 * it under the terms of the GNU License.                                  *
 * This program is distributed in the hope that it will be useful,         *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of          *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the           *
 * GNU License V2 for more details.                                        *
 *                                                                         *
 ***************************************************************************/
#include <WProgram.h>
#include <inttypes.h>
#include <math.h>

#ifndef ADXL345_h
#define ADXL345_h

/* ------- Register names ------- */
#define ADXL345_DEVID 0x00
#define ADXL345_RESERVED1 0x01
#define ADXL345_THRESH_TAP 0x1d
#define ADXL345_OFSX 0x1e
#define ADXL345_OFSY 0x1f
#define ADXL345_OFSZ 0x20
#define ADXL345_DUR 0x21
#define ADXL345_LATENT 0x22
#define ADXL345_WINDOW 0x23
#define ADXL345_THRESH_ACT 0x24
#define ADXL345_THRESH_INACT 0x25
#define ADXL345_TIME_INACT 0x26
#define ADXL345_ACT_INACT_CTL 0x27
#define ADXL345_THRESH_FF 0x28
#define ADXL345_TIME_FF 0x29
#define ADXL345_TAP_AXES 0x2a
#define ADXL345_ACT_TAP_STATUS 0x2b
#define ADXL345_BW_RATE 0x2c
#define ADXL345_POWER_CTL 0x2d
#define ADXL345_INT_ENABLE 0x2e
#define ADXL345_INT_MAP 0x2f
#define ADXL345_INT_SOURCE 0x30
#define ADXL345_DATA_FORMAT 0x31
#define ADXL345_DATAX0 0x32
#define ADXL345_DATAX1 0x33
#define ADXL345_DATAY0 0x34
#define ADXL345_DATAY1 0x35
#define ADXL345_DATAZ0 0x36
#define ADXL345_DATAZ1 0x37
#define ADXL345_FIFO_CTL 0x38
#define ADXL345_FIFO_STATUS 0x39

#define ADXL345_BW_1600 0xF // 1111
#define ADXL345_BW_800  0xE // 1110
#define ADXL345_BW_400  0xD // 1101  
#define ADXL345_BW_200  0xC // 1100
#define ADXL345_BW_100  0xB // 1011  
#define ADXL345_BW_50   0xA // 1010 
#define ADXL345_BW_25   0x9 // 1001 
#define ADXL345_BW_12   0x8 // 1000 
#define ADXL345_BW_6    0x7 // 0111
#define ADXL345_BW_3    0x6 // 0110


/* 
 Interrupt PINs
 INT1: 0
 INT2: 1
 */
#define ADXL345_INT1_PIN 0x00
#define ADXL345_INT2_PIN 0x01

/* 
 Interrupt bit position
 */
#define ADXL345_INT_DATA_READY_BIT 0x07
#define ADXL345_INT_SINGLE_TAP_BIT 0x06
#define ADXL345_INT_DOUBLE_TAP_BIT 0x05
#define ADXL345_INT_ACTIVITY_BIT   0x04
#define ADXL345_INT_INACTIVITY_BIT 0x03
#define ADXL345_INT_FREE_FALL_BIT  0x02
#define ADXL345_INT_WATERMARK_BIT  0x01
#define ADXL345_INT_OVERRUNY_BIT   0x00

#define ADXL345_OK    1 // no error
#define ADXL345_ERROR 0 // indicates error is predent

#define ADXL345_NO_ERROR   0 // initial state
#define ADXL345_READ_ERROR 1 // problem reading accel
#define ADXL345_BAD_ARG    2 // bad method argument

#define min(a, b) ((a) > (b))? (b) : (a)
#define max(a, b) ((a) < (b))? (a) : (b)



class ADXL345
{
public:
    bool status;           // set when error occurs 
    // see error code for details
    uint8_t error_code;       // Initial state
    double gains[3];        // counts to Gs
    
    ADXL345();
    void init();
    
    void sample();   // take readings from the accelerometer
    
    int16_t getX();  // return X from the last sample
    int16_t getY();  // return Y from the last sample
    int16_t getZ();  // return Z from the last sample
    
    void setTapThreshold(int tapThreshold);
    int getTapThreshold();
    void setAxisGains(double *_gains);
    void getAxisGains(double *_gains);
    void setAxisOffset(int x, int y, int z);
    void getAxisOffset(int* x, int* y, int*z);
    void setTapDuration(int tapDuration);
    int getTapDuration();
    void setDoubleTapLatency(int doubleTapLatency);
    int getDoubleTapLatency();
    void setDoubleTapWindow(int doubleTapWindow);
    int getDoubleTapWindow();
    void setActivityThreshold(int activityThreshold);
    int getActivityThreshold();
    void setInactivityThreshold(int inactivityThreshold);
    int getInactivityThreshold();
    void setTimeInactivity(int timeInactivity);
    int getTimeInactivity();
    void setFreeFallThreshold(int freeFallthreshold);
    int getFreeFallThreshold();
    void setFreeFallDuration(int freeFallDuration);
    int getFreeFallDuration();
    
    bool isActivityXEnabled();
    bool isActivityYEnabled();
    bool isActivityZEnabled();
    bool isInactivityXEnabled();
    bool isInactivityYEnabled();
    bool isInactivityZEnabled();
    bool isActivityAc();
    bool isInactivityAc();
    void setActivityAc(bool state);
    void setInactivityAc(bool state);
    
    bool getSuppressBit();
    void setSuppressBit(bool state);
    bool isTapDetectionOnX();
    void setTapDetectionOnX(bool state);
    bool isTapDetectionOnY();
    void setTapDetectionOnY(bool state);
    bool isTapDetectionOnZ();
    void setTapDetectionOnZ(bool state);
    
    void setActivityX(bool state);
    void setActivityY(bool state);
    void setActivityZ(bool state);
    void setInactivityX(bool state);
    void setInactivityY(bool state);
    void setInactivityZ(bool state);
    
    bool isActivitySourceOnX();
    bool isActivitySourceOnY();
    bool isActivitySourceOnZ();
    bool isTapSourceOnX();
    bool isTapSourceOnY();
    bool isTapSourceOnZ();
    bool isAsleep();
    
    bool isLowPower();
    void setLowPower(bool state);
    double getRate();
    void setRate(double rate);
    void set_bw(uint8_t bw_code);
    uint8_t get_bw_code();  
    
    uint8_t getInterruptSource();
    bool getInterruptSource(uint8_t interruptBit);
    bool getInterruptMapping(uint8_t interruptBit);
    void setInterruptMapping(uint8_t interruptBit, bool interruptPin);
    bool isInterruptEnabled(uint8_t interruptBit);
    void setInterrupt(uint8_t interruptBit, bool state);
    
    void getRangeSetting(uint8_t* rangeSetting);
    void setRangeSetting(int val);
    bool getSelfTestBit();
    void setSelfTestBit(bool selfTestBit);
    bool getSpiBit();
    void setSpiBit(bool spiBit);
    bool getInterruptLevelBit();
    void setInterruptLevelBit(bool interruptLevelBit);
    bool getFullResBit();
    void setFullResBit(bool fullResBit);
    bool getJustifyBit();
    void setJustifyBit(bool justifyBit);
    void printAllRegister();
    void printByte(uint8_t val);
    
private:
    void writeTo(uint8_t address, uint8_t val);
    void readFrom(uint8_t address, int num, uint8_t buff[]);
    void setRegisterBit(uint8_t regAdress, int bitPos, bool state);
    bool getRegisterBit(uint8_t regAdress, int bitPos);  
    uint8_t _buff[6] ;    //6 uint8_ts buffer for saving data read from the device
};
void print_uint8_t(uint8_t val);


extern ADXL345 Accel;

#endif

